#ifndef _PIController_H
#define _PIController_H
typedef struct
{
		float integral;
		float kp,ki,kc;
		float maxValue,minValue,integSat;
		float out,real,target,err,lastout,expTarget;
}PIController_t;
void PIControllerStep(PIController_t *pi);
void SpeedLoopStep(PIController_t *pi);
#endif
